A yoyo trick realized by parallel-link manipulator

This study aims to realize a yo-yo trick by a robot. Yoyo tricks are highly-skilled human motions. In this paper, we tries to realize a yo-yo trick called “Long-Sleeper” by a manipulator. The manipulator has parallel link mechanism. To realize the long-sleeper, the yo-yo and the manipulator models are derived and a controller letting the manipulator track a desired trajectory. The effectiveness of the proposed model and the controller are verified through numerical simulations and experimentations. As a result, the long-Sleeper is realized by the manipulator.